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[main] Add option to disable Octomap in Rviz Rendering Tools #606

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merged 4 commits into from Aug 17, 2021
Merged

[main] Add option to disable Octomap in Rviz Rendering Tools #606

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9aad1e1
Add Disabled option for Octomap Voxel Visualization
AdamPettinger Aug 11, 2021
4b64994
Merge branch 'main' into allow_disable_octo_viz_rolling
AdamPettinger Aug 16, 2021
274f2ee
Use std::make_shared
AdamPettinger Aug 16, 2021
a0bbdb1
Merge branch 'main' into allow_disable_octo_viz_rolling
henningkayser Aug 16, 2021
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1 change: 1 addition & 0 deletions moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
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Expand Up @@ -112,6 +112,7 @@ PlanningSceneDisplay::PlanningSceneDisplay(bool listen_to_planning_scene, bool s
octree_render_property_->addOption("Occupied Voxels", OCTOMAP_OCCUPIED_VOXELS);
octree_render_property_->addOption("Free Voxels", OCTOMAP_FREE_VOXELS);
octree_render_property_->addOption("All Voxels", OCTOMAP_FREE_VOXELS | OCTOMAP_OCCUPIED_VOXELS);
octree_render_property_->addOption("Disabled", OCTOMAP_DISABLED);

octree_coloring_property_ = new rviz_common::properties::EnumProperty(
"Voxel Coloring", "Z-Axis", "Select voxel coloring mode", scene_category_, SLOT(changedOctreeColorMode()), this);
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3 changes: 2 additions & 1 deletion ...ization/rviz_plugin_render_tools/include/moveit/rviz_plugin_render_tools/octomap_render.h
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Expand Up @@ -54,7 +54,8 @@ namespace moveit_rviz_plugin
enum OctreeVoxelRenderMode
{
OCTOMAP_FREE_VOXELS = 1,
OCTOMAP_OCCUPIED_VOXELS = 2
OCTOMAP_OCCUPIED_VOXELS = 2,
OCTOMAP_DISABLED = 3
};

enum OctreeVoxelColorMode
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13 changes: 8 additions & 5 deletions moveit_ros/visualization/rviz_plugin_render_tools/src/render_shapes.cpp
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Expand Up @@ -156,11 +156,14 @@ void RenderShapes::renderShape(Ogre::SceneNode* node, const shapes::Shape* s, co

case shapes::OCTREE:
{
OcTreeRenderPtr octree(new OcTreeRender(static_cast<const shapes::OcTree*>(s)->octree, octree_voxel_rendering,
octree_color_mode, 0u, node));
octree->setPosition(position);
octree->setOrientation(orientation);
octree_voxel_grids_.push_back(octree);
if (octree_voxel_rendering != OCTOMAP_DISABLED)
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{
OcTreeRenderPtr octree(new OcTreeRender(static_cast<const shapes::OcTree*>(s)->octree, octree_voxel_rendering,
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octree_color_mode, 0u, node));
octree->setPosition(position);
octree->setOrientation(orientation);
octree_voxel_grids_.push_back(octree);
}
}
break;

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